SoundCtrCarEscapeButton

import lejos.nxt.*;
/**
 * The locomotions of a  LEGO 9797 car is controlled by
 * sound detected through a microphone on port 1.
 *
 * @author  Ole Caprani
 * @version 23.08.07
 */
public class SoundCtrCar
{
    private static int soundThreshold = 90;
    private static SoundSensor sound = new SoundSensor(SensorPort.S1);
    private static boolean running = true;

    private static  void waitForLoudSound() throws Exception
    {
        if (running) {
            int soundLevel;
            Thread.sleep(500);
            do
            {
                soundLevel = sound.readValue();
                LCD.drawInt(soundLevel,4,10,0);
            }
            while ( soundLevel < soundThreshold && running);
        }
    }

    public static void main(String [] args) throws Exception
    {
        Button.ESCAPE.addButtonListener(new ButtonListener() {
            public void buttonReleased(Button b) {
                LCD.drawString("ESCAPE pressed", 0, 0);
            }
            public void buttonPressed(Button b) {
                running = false;
            }
        });

        LCD.drawString("dB level: ",0,0);
        LCD.refresh();

        while (! Button.ESCAPE.isDown() && running)
        {
            waitForLoudSound();
            LCD.drawString("Forward ",0,1);
            Car.forward(100, 100);

            waitForLoudSound();
            LCD.drawString("Right   ",0,1);
            Car.forward(100, 0);

            waitForLoudSound();
            LCD.drawString("Left    ",0,1);
            Car.forward(0, 100);

            waitForLoudSound();
            LCD.drawString("Stop    ",0,1);
            Car.stop();
       }
       Car.stop();
       LCD.clear();
       LCD.drawString("Program stopped", 0, 0);
       Thread.sleep(2000);
   }
}